Move things into attic and update Makefile to do dependnencies.

20 files changed, 69 insertions, 48 deletions

diff --git a/Makefile b/Makefile
index 24b95f6..d224772 100644
--- a/Makefile
+++ b/Makefile
@@ -1,34 +1,38 @@
-all : lib data_recorder test calibrate calibrate_client simple_pose_test
+all : buildfolders data_recorder test calibrate calibrate_client simple_pose_test
+.PHONY : help clean buildfolders
 
+LIBRARY:=./lib/libsurvive.so
+OBJDIR:=build
 CC?=gcc
 
-CFLAGS:=-Iinclude/libsurvive -fPIC -g -Os -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic   #-fsanitize=address -fsanitize=undefined -Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable -Wno-pointer-sign -Wno-parentheses
-CFLAGS_RELEASE:=-Iinclude/libsurvive -fPIC -msse2 -ftree-vectorize -Os -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic
+CFLAGS+=-Iinclude/libsurvive -fPIC -g -O3 -Iredist -DUSE_DOUBLE -std=gnu99 -rdynamic -MD
 
+ifdef EXTRA_WARNINGS
+	CFLAGS+=-fsanitize=address -fsanitize=undefined -Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable -Wno-pointer-sign -Wno-parentheses
+endif
 
-#LDFLAGS:=-L/usr/local/lib -lpthread -lusb-1.0 -lz -lm -flto -g
-LDFLAGS:=-L/usr/local/lib -lpthread -lz -lm -flto -g -llapacke  -lcblas -lm  # 
-LDFLAGS_TOOLS:=-Llib -lsurvive -Wl,-rpath,lib -lX11 $(LDFLAGS)
-
-SBA:=redist/sba/sba_chkjac.o  redist/sba/sba_crsm.o  redist/sba/sba_lapack.o  redist/sba/sba_levmar.o  redist/sba/sba_levmar_wrap.o redist/minimal_opencv.o src/poser_epnp.o src/poser_sba.o src/epnp/epnp.o 
-LIBSURVIVE_CORE:=src/survive.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_default_devices.o src/survive_playback.o src/survive_config.o src/survive_cal.o  src/poser.o src/survive_sensor_activations.o src/survive_disambiguator.o src/survive_imu.o
-MINIMAL_NEEDED:=src/survive_usb.o src/survive_charlesbiguator.o  src/survive_vive.o src/poser_charlesrefine.o src/survive_reproject.o 
-AUX_NEEDED:=src/survive_turveybiguator.o  src/survive_statebased_disambiguator.o
+LDFLAGS+=-L/usr/local/lib -lpthread -lz -lm -g -llapacke  -lcblas -lm 
+LDFLAGS_TOOLS+=-Llib -lsurvive -Wl,-rpath,lib -lX11 $(LDFLAGS)
 
-POSERS:=src/poser_dummy.o src/poser_daveortho.o src/poser_charlesslow.o src/poser_octavioradii.o src/poser_turveytori.o  src/poser_imu.o
-REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o
 
-ifeq ($(BUILD), MINIMAL)
-	LIBSURVIVE_O:=$(REDISTS) $(LIBSURVIVE_CORE) $(MINIMAL_NEEDED)
-	LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c)
+SBA:=redist/sba/sba_chkjac.c  redist/sba/sba_crsm.c  redist/sba/sba_lapack.c  redist/sba/sba_levmar.c  redist/sba/sba_levmar_wrap.c redist/minimal_opencv.c src/poser_epnp.c src/poser_sba.c src/epnp/epnp.c 
+LIBSURVIVE_CORE:=src/survive.c src/survive_process.c src/ootx_decoder.c src/survive_driverman.c src/survive_default_devices.c src/survive_playback.c src/survive_config.c src/survive_cal.c  src/poser.c src/survive_sensor_activations.c src/survive_disambiguator.c src/survive_imu.c
+MINIMAL_NEEDED:=src/survive_usb.c src/survive_charlesbiguator.c  src/survive_vive.c src/survive_reproject.c 
+AUX_NEEDED:=src/survive_turveybiguator.c  src/survive_statebased_disambiguator.c
+POSERS:=src/poser_dummy.c src/poser_imu.c src/poser_charlesrefine.c
+EXTRA_POSERS:=src/poser_daveortho.c src/poser_charlesslow.c src/poser_octavioradii.c src/poser_turveytori.c  
+REDISTS:=redist/json_helpers.c redist/linmath.c redist/jsmn.c
 
+ifdef MINIMAL
+	LIBSURVIVE_C:=$(REDISTS) $(LIBSURVIVE_CORE) $(MINIMAL_NEEDED)
 else
-	LIBSURVIVE_O:=$(POSERS) $(REDISTS) $(LIBSURVIVE_CORE) $(SBA) $(MINIMAL_NEEDED) $(AUX_NEEDED)
-	LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c)
+	LIBSURVIVE_C:=$(POSERS) $(REDISTS) $(LIBSURVIVE_CORE) $(SBA) $(MINIMAL_NEEDED) $(AUX_NEEDED)
 endif
 
 
-
+LIBSURVIVE_O:=$(LIBSURVIVE_C:%.c=$(OBJDIR)/%.o)
+LIBSURVIVE_D:=$(LIBSURVIVE_C:%.c=$(OBJDIR)/%.d)
+-include $(LIBSURVIVE_D)
 
 #----------
 # Platform specific changes to CFLAGS/LDFLAGS
@@ -57,45 +61,55 @@ ifeq ($(UNAME), Darwin)
 REDISTS:=$(REDISTS) redist/hid-osx.c
 endif
 
-#If you want to use HIDAPI on Linux.
-#CFLAGS:=$(CFLAGS) -DHIDAPI
-#REDISTS:=$(REDISTS) redist/hid-linux.o
-#LDFLAGS:=$(LDFLAGS) -ludev
-
-#Useful Preprocessor Directives:
-# -DUSE_DOUBLE = use double instead of float for most operations.
-# -DNOZLIB = use puff.c
-# -DTCC = various things needed for TCC.
-# -DWINDOWS -DWIN32 = Building for Windows
-# -DHIDAPI = Build vive driver to use USBHID instead of interrupt/control messages.
-# -DRUNTIME_SYMNUM = Don't assume __attribute__((constructor)) works.  Instead comb for anything starting with REGISTER.
 
+ifdef LINUX_USE_HIDAPI
+	CFLAGS:=$(CFLAGS) -DHIDAPI
+	REDISTS:=$(REDISTS) redist/hid-linux.o
+	LDFLAGS:=$(LDFLAGS) -ludev
+endif
 
 
+help :
+	@echo "Usage: make [flags]"
+	@echo "  Build-system flags:"
+	@echo "    MINIMAL=1          Buld a minimal build, geared for embedded systems."
+	@echo "    LINUX_USE_HIDAPI=1 Build with HIDAPI in Linux instead of just libusb."
+	@echo "    EXTRA_WARNINGS=1   Provide many mor warnings for build system."
+	@echo "    CFLAGS=            Specify additional CFLAGS."
+	@echo "    LDFLAGS=           Specify additional LDFLAGS."
+	@echo "    CC=                Specify 
+	@echo "  Useful Preprocessor Directives:"
+	@echo "    -DUSE_DOUBLE       Use double instead of float for most operations."
+	@echo "    -DNOZLIB           Use puff.c"
+	@echo "    -DTCC              Various things needed for TCC."
+	@echo "    -DWINDOWS -DWIN32  Building for Windows."
+	@echo "    -DRUNTIME_SYMNUM   Don't assume __attribute__((constructor)) works.  Instead comb for anything starting with REGISTER."
+	@echo "    -flto              Do link-time optimizations.  This significantly increases period of time to link but improves performance.."
 
 
-# unused: redist/crc32.c
 
-testCocoa : testCocoa.c
+testCocoa : testCocoa.c $(LIBRARY)
 	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
 
-test : test.c
+test : test.c $(LIBRARY)
 	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
 
-simple_pose_test : simple_pose_test.c $(DRAWFUNCTIONS)
+simple_pose_test : simple_pose_test.c $(DRAWFUNCTIONS) $(LIBRARY)
 	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
 
-data_recorder : data_recorder.c
-	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
+data_recorder : data_recorder.c $(LIBRARY)
+	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) 
 
-calibrate :  calibrate.c $(DRAWFUNCTIONS)
+calibrate :  calibrate.c $(DRAWFUNCTIONS) $(LIBRARY)
 	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
 
-calibrate_client :  calibrate_client.c $(GRAPHICS_LOFI)
+calibrate_client :  calibrate_client.c $(GRAPHICS_LOFI) $(LIBRARY)
 	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
 
+
+
 ## Still not working!!! Don't use.
-static_calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C)
+static_calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C) $(LIBRARY)
 	tcc -o $@ $^ $(LDFLAGS_TOOLS) $(LDFLAGS) -DTCC
 
 ./redist/dclhelpers_debuggable.c : ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h
@@ -105,32 +119,39 @@ static_calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C)
 
 
 test_dcl: ./redist/test_dcl.c ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h ./redist/minimal_opencv.c ./src/epnp/epnp.c
-	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS_RELEASE) -DFLT=double
+	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -DFLT=double
 
 test_dcl_debug: ./redist/test_dcl.c ./redist/dclhelpers_debuggable.c ./redist/dclhelpers.h ./redist/dclapack.h redist/os_generic.c
 	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -DFLT=double -fsanitize=address -fsanitize=undefined
 
-test_minimal_cv: ./src/epnp/test_minimal_cv.c ./lib/libsurvive.so 
+test_minimal_cv: ./src/epnp/test_minimal_cv.c $(LIBRARY)
 	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
 
-test_epnp: ./src/epnp/test_epnp.c ./lib/libsurvive.so 
+test_epnp: ./src/epnp/test_epnp.c $(LIBRARY)
 	$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
 
 test_epnp_ocv: ./src/epnp/test_epnp.c ./src/epnp/epnp.c
 	$(CC) -o $@ $^ -DWITH_OPENCV -lpthread -lz -lm -flto -g -lX11 -lusb-1.0 -Iinclude/libsurvive -fPIC -g -O4 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -fsanitize=address -fsanitize=undefined   -llapack -lm -lopencv_core $(LDFLAGS_TOOLS)
 
-lib:
-	mkdir lib
+$(OBJDIR):
+	mkdir -p lib
+	mkdir -p $(OBJDIR)
+	mkdir -p $(OBJDIR)/src
+	mkdir -p $(OBJDIR)/redist
+	mkdir -p $(OBJDIR)/redist/sba
+	mkdir -p $(OBJDIR)/src/epnp
 
-lib/libsurvive.so : $(LIBSURVIVE_O)
-	$(CC) -o $@ $^ $(LDFLAGS) -shared
+$(LIBRARY): $(LIBSURVIVE_O) $(OBJDIR)
+	$(CC) -o $@ $(LIBSURVIVE_O) $(CFLAGS) $(LDFLAGS) -shared
 
+$(OBJDIR)/%.o : %.c $(OBJDIR)
+	$(CC) -c -o $@ $< $(CFLAGS)
 
 calibrate_tcc : $(LIBSURVIVE_C)
 	tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c
 
 clean :
-	rm -rf */*/*.o *.o src/*.o *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so test_minimal_cv test_epnp test_epnp_ocv calibrate_client redist/*.o redist/*~ tools/data_server/data_server tools/lighthousefind/lighthousefind tools/lighthousefind_tori/lighthousefind-tori tools/plot_lighthouse/plot_lighthouse tools/process_rawcap/process_to_points redist/jsmntest redist/lintest
+	rm -rf */*/*.o *.o src/*.o $(OBJDIR) *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so test_minimal_cv test_epnp test_epnp_ocv calibrate_client redist/*.o redist/*~ tools/data_server/data_server tools/lighthousefind/lighthousefind tools/lighthousefind_tori/lighthousefind-tori tools/plot_lighthouse/plot_lighthouse tools/process_rawcap/process_to_points redist/jsmntest redist/lintest
 
 .test_redist:
 	cd redist && make .run_tests;
diff --git a/dave/AffineSolve b/attic/dave/AffineSolve
index bd93cbd..bd93cbd 100755
--- a/dave/AffineSolve
+++ b/attic/dave/AffineSolve
diff --git a/dave/AffineSolve.c b/attic/dave/AffineSolve.c
index 685062e..685062e 100644
--- a/dave/AffineSolve.c
+++ b/attic/dave/AffineSolve.c
diff --git a/dave/AffineSolve.c.CHARLES b/attic/dave/AffineSolve.c.CHARLES
index cb62ef6..cb62ef6 100644
--- a/dave/AffineSolve.c.CHARLES
+++ b/attic/dave/AffineSolve.c.CHARLES
diff --git a/dave/HMD_normals.csv b/attic/dave/HMD_normals.csv
index 9abb886..9abb886 100644
--- a/dave/HMD_normals.csv
+++ b/attic/dave/HMD_normals.csv
diff --git a/dave/HMD_points.csv b/attic/dave/HMD_points.csv
index 9c8f61d..9c8f61d 100644
--- a/dave/HMD_points.csv
+++ b/attic/dave/HMD_points.csv
diff --git a/dave/Makefile b/attic/dave/Makefile
index 330bda3..330bda3 100644
--- a/dave/Makefile
+++ b/attic/dave/Makefile
diff --git a/dave/OrthoPlot.c b/attic/dave/OrthoPlot.c
index 222828c..222828c 100644
--- a/dave/OrthoPlot.c
+++ b/attic/dave/OrthoPlot.c
diff --git a/dave/dclapack_test b/attic/dave/dclapack_test
index bac05e7..bac05e7 100755
--- a/dave/dclapack_test
+++ b/attic/dave/dclapack_test
diff --git a/dave/dclapack_test.c b/attic/dave/dclapack_test.c
index 3f48b08..3f48b08 100644
--- a/dave/dclapack_test.c
+++ b/attic/dave/dclapack_test.c
diff --git a/dave/errors.txt b/attic/dave/errors.txt
index df2a094..df2a094 100644
--- a/dave/errors.txt
+++ b/attic/dave/errors.txt
diff --git a/dave/fileutil.c b/attic/dave/fileutil.c
index 04dc241..04dc241 100644
--- a/dave/fileutil.c
+++ b/attic/dave/fileutil.c
diff --git a/dave/fileutil.h b/attic/dave/fileutil.h
index e5da244..e5da244 100644
--- a/dave/fileutil.h
+++ b/attic/dave/fileutil.h
diff --git a/dave/kalman_filter.c b/attic/dave/kalman_filter.c
index 3d3406a..3d3406a 100644
--- a/dave/kalman_filter.c
+++ b/attic/dave/kalman_filter.c
diff --git a/dave/kalman_filter.h b/attic/dave/kalman_filter.h
index 6511fac..6511fac 100644
--- a/dave/kalman_filter.h
+++ b/attic/dave/kalman_filter.h
diff --git a/dave/main.c b/attic/dave/main.c
index ff187aa..ff187aa 100644
--- a/dave/main.c
+++ b/attic/dave/main.c
diff --git a/dave/olddata/HMD_normals.csv b/attic/dave/olddata/HMD_normals.csv
index 9abb886..9abb886 100644
--- a/dave/olddata/HMD_normals.csv
+++ b/attic/dave/olddata/HMD_normals.csv
diff --git a/dave/olddata/HMD_points.csv b/attic/dave/olddata/HMD_points.csv
index 9c8f61d..9c8f61d 100644
--- a/dave/olddata/HMD_points.csv
+++ b/attic/dave/olddata/HMD_points.csv
diff --git a/dave/olddata/ptinfo.csv b/attic/dave/olddata/ptinfo.csv
index 2dbef65..2dbef65 100644
--- a/dave/olddata/ptinfo.csv
+++ b/attic/dave/olddata/ptinfo.csv
diff --git a/dave/ptinfo.csv b/attic/dave/ptinfo.csv
index f4c5ea9..f4c5ea9 100644
--- a/dave/ptinfo.csv
+++ b/attic/dave/ptinfo.csv